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<div class="header">
  <div class="headertitle"><div class="title">NEDtoECEF.hpp</div></div>
</div><!--header-->
<div class="contents">
<a href="_n_e_dto_e_c_e_f_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#include &quot;<a class="code" href="_e_c_e_f_8hpp.html">NumCpp/Coordinates/ReferenceFrames/ECEF.hpp</a>&quot;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &quot;<a class="code" href="_l_l_a_8hpp.html">NumCpp/Coordinates/ReferenceFrames/LLA.hpp</a>&quot;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &quot;<a class="code" href="_n_e_d_8hpp.html">NumCpp/Coordinates/ReferenceFrames/NED.hpp</a>&quot;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#include &quot;<a class="code" href="_e_c_e_fto_l_l_a_8hpp.html">NumCpp/Coordinates/Transforms/ECEFtoLLA.hpp</a>&quot;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#include &quot;<a class="code" href="_l_l_ato_e_c_e_f_8hpp.html">NumCpp/Coordinates/Transforms/LLAtoECEF.hpp</a>&quot;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#include &quot;<a class="code" href="_n_e_dto_e_c_e_f_8hpp.html">NumCpp/Coordinates/Transforms/NEDtoECEF.hpp</a>&quot;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#include &quot;<a class="code" href="dot_8hpp.html">NumCpp/Functions/dot.hpp</a>&quot;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#include &quot;<a class="code" href="_nd_array_8hpp.html">NumCpp/NdArray.hpp</a>&quot;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacenc_1_1coordinates_1_1transforms.html">nc::coordinates::transforms</a></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>{</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="namespacenc_1_1coordinates_1_1transforms.html#aaa82e98af20c8f12d75a48c82be75d70">   53</a></span>    [[nodiscard]] <span class="keyword">inline</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f.html">reference_frames::ECEF</a> <a class="code hl_function" href="namespacenc_1_1coordinates_1_1transforms.html#aaa82e98af20c8f12d75a48c82be75d70">NEDtoECEF</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1reference__frames_1_1_n_e_d.html">reference_frames::NED</a>&amp;  target,</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>                                                          <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f.html">reference_frames::ECEF</a>&amp; referencePoint) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    {</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keyword">const</span> <span class="keyword">auto</span> referencePointLLA = <a class="code hl_function" href="namespacenc_1_1coordinates_1_1transforms.html#ae5b0b317df7fc82c1a6467aa14ac37d4">ECEFtoLLA</a>(referencePoint);</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <span class="keyword">const</span> <span class="keyword">auto</span> sinLat = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(referencePointLLA.latitude);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keyword">const</span> <span class="keyword">auto</span> cosLat = <a class="code hl_function" href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">std::cos</a>(referencePointLLA.latitude);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keyword">const</span> <span class="keyword">auto</span> sinLon = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(referencePointLLA.longitude);</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        <span class="keyword">const</span> <span class="keyword">auto</span> cosLon = <a class="code hl_function" href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">std::cos</a>(referencePointLLA.longitude);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <span class="keyword">auto</span> rotationMatrix  = <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>(3, 3);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        rotationMatrix(0, 0) = -sinLat * cosLon;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        rotationMatrix(1, 0) = -sinLat * sinLon;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        rotationMatrix(2, 0) = cosLat;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        rotationMatrix(0, 1) = -sinLon;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        rotationMatrix(1, 1) = cosLon;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        rotationMatrix(2, 1) = 0.;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        rotationMatrix(0, 2) = -cosLat * cosLon;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        rotationMatrix(1, 2) = -cosLat * sinLon;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        rotationMatrix(2, 2) = -sinLat;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keyword">auto</span> targetVec = <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>(3, 1);</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        targetVec[0]   = target.north();</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        targetVec[1]   = target.east();</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        targetVec[2]   = target.down();</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keyword">auto</span> referencePointVec = <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>(3, 1);</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        referencePointVec[0]   = referencePoint.x;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        referencePointVec[1]   = referencePoint.y;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        referencePointVec[2]   = referencePoint.z;</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <span class="keyword">const</span> <span class="keyword">auto</span> targetECEFVec = <a class="code hl_function" href="namespacenc.html#a50b693e816ecaa711b09997abaacec9a">dot</a>(rotationMatrix, targetVec) + referencePointVec;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        <span class="keywordflow">return</span> { targetECEFVec[0], targetECEFVec[1], targetECEFVec[2] };</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    }</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="namespacenc_1_1coordinates_1_1transforms.html#a07e94a5c87e8f3023cbafd26ea6aa80f">   98</a></span>    [[nodiscard]] <span class="keyword">inline</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f.html">reference_frames::ECEF</a> <a class="code hl_function" href="namespacenc_1_1coordinates_1_1transforms.html#aaa82e98af20c8f12d75a48c82be75d70">NEDtoECEF</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1reference__frames_1_1_n_e_d.html">reference_frames::NED</a>&amp; target,</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>                                                          <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1reference__frames_1_1_l_l_a.html">reference_frames::LLA</a>&amp; referencePoint) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    {</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="namespacenc_1_1coordinates_1_1transforms.html#aaa82e98af20c8f12d75a48c82be75d70">NEDtoECEF</a>(target, <a class="code hl_function" href="namespacenc_1_1coordinates_1_1transforms.html#a4534f88d7138f27edf20f951aac05970">LLAtoECEF</a>(referencePoint));</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    }</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>} <span class="comment">// namespace nc::coordinates::transforms</span></div>
<div class="ttc" id="a_e_c_e_f_8hpp_html"><div class="ttname"><a href="_e_c_e_f_8hpp.html">ECEF.hpp</a></div></div>
<div class="ttc" id="a_e_c_e_fto_l_l_a_8hpp_html"><div class="ttname"><a href="_e_c_e_fto_l_l_a_8hpp.html">ECEFtoLLA.hpp</a></div></div>
<div class="ttc" id="a_l_l_a_8hpp_html"><div class="ttname"><a href="_l_l_a_8hpp.html">LLA.hpp</a></div></div>
<div class="ttc" id="a_l_l_ato_e_c_e_f_8hpp_html"><div class="ttname"><a href="_l_l_ato_e_c_e_f_8hpp.html">LLAtoECEF.hpp</a></div></div>
<div class="ttc" id="a_n_e_d_8hpp_html"><div class="ttname"><a href="_n_e_d_8hpp.html">NED.hpp</a></div></div>
<div class="ttc" id="a_n_e_dto_e_c_e_f_8hpp_html"><div class="ttname"><a href="_n_e_dto_e_c_e_f_8hpp.html">NEDtoECEF.hpp</a></div></div>
<div class="ttc" id="a_nd_array_8hpp_html"><div class="ttname"><a href="_nd_array_8hpp.html">NdArray.hpp</a></div></div>
<div class="ttc" id="aclassnc_1_1_nd_array_html"><div class="ttname"><a href="classnc_1_1_nd_array.html">nc::NdArray&lt; double &gt;</a></div></div>
<div class="ttc" id="aclassnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f_html"><div class="ttname"><a href="classnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f.html">nc::coordinates::reference_frames::ECEF</a></div><div class="ttdoc">ECEF coordinates.</div><div class="ttdef"><b>Definition:</b> ECEF.hpp:40</div></div>
<div class="ttc" id="aclassnc_1_1coordinates_1_1reference__frames_1_1_l_l_a_html"><div class="ttname"><a href="classnc_1_1coordinates_1_1reference__frames_1_1_l_l_a.html">nc::coordinates::reference_frames::LLA</a></div><div class="ttdoc">Geodetic coordinates.</div><div class="ttdef"><b>Definition:</b> LLA.hpp:40</div></div>
<div class="ttc" id="aclassnc_1_1coordinates_1_1reference__frames_1_1_n_e_d_html"><div class="ttname"><a href="classnc_1_1coordinates_1_1reference__frames_1_1_n_e_d.html">nc::coordinates::reference_frames::NED</a></div><div class="ttdoc">North east down coordinates.</div><div class="ttdef"><b>Definition:</b> NED.hpp:40</div></div>
<div class="ttc" id="adot_8hpp_html"><div class="ttname"><a href="dot_8hpp.html">dot.hpp</a></div></div>
<div class="ttc" id="anamespacenc_1_1coordinates_1_1transforms_html"><div class="ttname"><a href="namespacenc_1_1coordinates_1_1transforms.html">nc::coordinates::transforms</a></div><div class="ttdef"><b>Definition:</b> AERtoECEF.hpp:38</div></div>
<div class="ttc" id="anamespacenc_1_1coordinates_1_1transforms_html_a4534f88d7138f27edf20f951aac05970"><div class="ttname"><a href="namespacenc_1_1coordinates_1_1transforms.html#a4534f88d7138f27edf20f951aac05970">nc::coordinates::transforms::LLAtoECEF</a></div><div class="ttdeci">reference_frames::ECEF LLAtoECEF(const reference_frames::LLA &amp;point) noexcept</div><div class="ttdoc">Converts the LLA coordinates to ECEF https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#F...</div><div class="ttdef"><b>Definition:</b> LLAtoECEF.hpp:46</div></div>
<div class="ttc" id="anamespacenc_1_1coordinates_1_1transforms_html_aaa82e98af20c8f12d75a48c82be75d70"><div class="ttname"><a href="namespacenc_1_1coordinates_1_1transforms.html#aaa82e98af20c8f12d75a48c82be75d70">nc::coordinates::transforms::NEDtoECEF</a></div><div class="ttdeci">reference_frames::ECEF NEDtoECEF(const reference_frames::NED &amp;target, const reference_frames::ECEF &amp;referencePoint) noexcept</div><div class="ttdoc">Converts the NED coordinates to ECEF https://apps.dtic.mil/sti/pdfs/AD1170763.pdf Figure 11 https://a...</div><div class="ttdef"><b>Definition:</b> NEDtoECEF.hpp:53</div></div>
<div class="ttc" id="anamespacenc_1_1coordinates_1_1transforms_html_ae5b0b317df7fc82c1a6467aa14ac37d4"><div class="ttname"><a href="namespacenc_1_1coordinates_1_1transforms.html#ae5b0b317df7fc82c1a6467aa14ac37d4">nc::coordinates::transforms::ECEFtoLLA</a></div><div class="ttdeci">reference_frames::LLA ECEFtoLLA(const reference_frames::ECEF &amp;ecef, double tol=1e-8) noexcept</div><div class="ttdoc">Converts ECEF coordinates to LLA https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#From_...</div><div class="ttdef"><b>Definition:</b> ECEFtoLLA.hpp:49</div></div>
<div class="ttc" id="anamespacenc_html_a3fa4e582cdeef0716309ad51378f2983"><div class="ttname"><a href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">nc::sin</a></div><div class="ttdeci">auto sin(dtype inValue) noexcept</div><div class="ttdef"><b>Definition:</b> sin.hpp:49</div></div>
<div class="ttc" id="anamespacenc_html_a50b693e816ecaa711b09997abaacec9a"><div class="ttname"><a href="namespacenc.html#a50b693e816ecaa711b09997abaacec9a">nc::dot</a></div><div class="ttdeci">NdArray&lt; dtype &gt; dot(const NdArray&lt; dtype &gt; &amp;inArray1, const NdArray&lt; dtype &gt; &amp;inArray2)</div><div class="ttdef"><b>Definition:</b> dot.hpp:47</div></div>
<div class="ttc" id="anamespacenc_html_a736de91eb8f79bfaf4dc92d7161f1c87"><div class="ttname"><a href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">nc::cos</a></div><div class="ttdeci">auto cos(dtype inValue) noexcept</div><div class="ttdef"><b>Definition:</b> cos.hpp:49</div></div>
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